In iterative learning control (ILC) it is generally assumed that the initial state is the same at the start of each iteration. In various applications, this assumption is easily violated. In this paper an initial state correction procedure is proposed to take into account the effect of a varying initial state. The algorithm is experimentally validated on a piezoelectric tube scanner. In these experiments, the piezoelectric tube scanner is linearized by means of a Preisach inverse hysteresis model.
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